A control structure for ambidextrous robot arm based on Multiple Adaptive Neuro‐Fuzzy Inference System

This paper presents the novel design of an ambidextrous robot arm that offers double range motion as compared to dexterous arms. The is unique in terms (ambidextrous feature), actuation (use two different actuators simultaneously: Pneumatic Artificial Muscle (PAM) and Electric Motors)) control (combined use Proportional Integral Derivative (PID) with Neural Network (NN) Multiple Adaptive Neuro-fuzzy Inference System (MANFIS) controller selector block). In control, a solution based on forward kinematic inverse approach presented, results are verified using derived equation MATLAB. Since solving kinematics analytically difficult, Neuro Fuzzy system (ANFIS) developed ANFIS MATLAB toolbox. When generic failed produce satisfactory due feature arm, MANFIS block proposed. efficiency has been tested by comparing its performance conventional arm. obtained from experiments proved when power consumption stability.